EP0221372B1 - Joint homocinétique - Google Patents

Joint homocinétique Download PDF

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Publication number
EP0221372B1
EP0221372B1 EP86113813A EP86113813A EP0221372B1 EP 0221372 B1 EP0221372 B1 EP 0221372B1 EP 86113813 A EP86113813 A EP 86113813A EP 86113813 A EP86113813 A EP 86113813A EP 0221372 B1 EP0221372 B1 EP 0221372B1
Authority
EP
European Patent Office
Prior art keywords
elastomeric
constant velocity
driven member
bearings
axes
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP86113813A
Other languages
German (de)
English (en)
Other versions
EP0221372A3 (en
EP0221372A2 (fr
Inventor
William David Neathery
Willem Broekhuizen
Ernst Calvin Schellhase
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bell Helicopter Textron Inc
Original Assignee
Bell Helicopter Textron Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bell Helicopter Textron Inc filed Critical Bell Helicopter Textron Inc
Publication of EP0221372A2 publication Critical patent/EP0221372A2/fr
Publication of EP0221372A3 publication Critical patent/EP0221372A3/en
Application granted granted Critical
Publication of EP0221372B1 publication Critical patent/EP0221372B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/32—Rotors
    • B64C27/37—Rotors having articulated joints
    • B64C27/41—Rotors having articulated joints with flapping hinge or universal joint, common to the blades
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/32—Rotors
    • B64C27/35—Rotors having elastomeric joints
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/50—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members
    • F16D3/78—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members shaped as an elastic disc or flat ring, arranged perpendicular to the axis of the coupling parts, different sets of spots of the disc or ring being attached to each coupling part, e.g. Hardy couplings
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S464/00—Rotary shafts, gudgeons, housings, and flexible couplings for rotary shafts
    • Y10S464/904—Homokinetic coupling

Definitions

  • This invention relates to a constant velocity joint for connecting two nonaligned members for joint rotation, and in particular to a constant velocity joint between the mast and rotor hub of a helicopter.
  • a mast is connected to the power source and rotates about a fixed axis relative to the helicopter main frame.
  • a hub assembly is mounted to the mast for joint rotation.
  • the hub assembly includes a yoke and a torque transferring mechanism to transmit torque from the mast to the yoke.
  • the yoke is also supported by the torque transferring mechanism for flapping motion where the rotational axes of the mast and yoke can become misaligned.
  • U.S. Patent No. 4,323,332, issued April 6, 1982 discloses an effort to provide a flexible connection between a mast and yoke.
  • U.S. Patent No. 4,477,225, issued October 16, 1984 discloses an attempt to provide an elastomeric mounting of a yoke to a mast with a constant velocity joint.
  • the joint should have a high torque transmitting capacity and preferrably require no lubrication.
  • the joint should be self-centering in order to influence the yoke to return to alignment with the mast after flapping. If the joint should fail in service, the failure is preferably in a noncatastrophic failure mode which could permit the hub assembly to remain operational until the helicopter can be landed. It is also very advantageous to minimize the weight and size of the joint, thereby increasing the useful payload of the helicopter and improving the aerodynamic configuration as well.
  • some axial motion between the yoke and mast is common and the joint should be capable of transmitting torque despite this motion.
  • a bidirectional drive feature i.e. where either member could be the driving member, can be advantageous.
  • DE-A-2 709 959 and DE-A-2 113 357 respectively show some structure along the center line of its joint. Any thrust loads carried through the joint of those references would seem to be primarily carried through the elements also required to transfer the torque. In a severe application environment such as a helicopter rotor, the combined energy transfer requirements of thrust and torque through the same elements would swiftly destroy the joint.
  • US-A-4 208 889 suffers similar disadvantages. It illustrates no mechanism separate from the torque transferring elements to carry thrust between shafts 12A and 12B. Further, it does not disclose the use of elastomeric materials in compression having a spherical shape configured about the flapping center of the joint to provide for transfer of such thrust and generate a centering moment to realign the axes of the drive shaft and driven member.
  • the invention relates to a constant velocity universal joint for joining a drive shaft to a driven member for joint rotation and transmission of thrust, the drive shaft rotatable about a first axis and the driven member rotatable about a second axis, the first and second axes being capable of misalignment, the constant velocity universal joint having a plurality of elastomeric bearings including at least three drive bearings, and at least three driven bearings, means to secure selected ones of said elastomeric bearings to the drive shaft and means to secure the other of said elastomeric bearings to the driven member and carrier means for mounting the elastomeric bearings, with the elastomeric bearings deforming as the drive shaft rotates the driven member through the constant velocity joint, permitting the carrier means axis of symmetry to bisect the angle of misalignment between the first and second axes to ensure constant velocity motion, the elastomeric bearings comprise at least three pairs of elastomeric bearings, each of said elastomeric bearing pairs
  • the driving member is formed by the mast of a helicopter and the driven member is formed by the yoke of the helicopter.
  • the structure for securing selected elastomeric bearing assemblies to the driving member is formed by a pair of spaced apart plates splined to the mast for rotation therewith which secures the elastomeric bearing assemblies between the plates.
  • the structure securing the other elastomeric bearing assemblies to the driven member comprise U-shaped pillow blocks which secure the other elastomeric bearing assemblies to the yoke.
  • laminated cylindrical and spherical elastomeric bearings can be employed to improve fatigue life and reduce frictional wear.
  • a flapping spring can also be employed between the driving member and driven member to limit the misalignment between the rotational axes of the members and to transfer axial forces or thrust between the members.
  • a thrust linkage can also be provided which transfers axial forces between the driving and driven member.
  • FIGURES 1-6 a constant velocity joint 10, which comprises a first embodiment of the present invention.
  • the joint 10 is employed to transfer torque from the mast 12 in a helicopter to a yoke 14 for rotating the yoke and blades attached thereto to lift the helicopter.
  • the yoke 14 is supported through the constant velocity joint 10 for flapping motion, where the axis of rotation of the yoke 14 can become misaligned with the axis of rotation of the mast 12.
  • the constant velocity joint 10 will provide for a smooth transfer of torque from the mast to the yoke without inducing vibration.
  • joint 10 and yoke 14 form the hub assembly of a helicopter.
  • the mast 12 can be seen to have splined sections 16 and 18 along its length, and a threaded end 20.
  • the mast 12 is supported by the helicopter main frame and rotated about the driving axis 22 by the power plant in the helicopter.
  • a lower triangular plate 24, having inner splines 26, is slid over the end of the mast 12 for engagement with spline section 16 for rotation with the mast.
  • An upper triangular plate 28, having inner splines 30, is similarily splined to section 18.
  • the plates 24 and 28 are axially restrained along axis 22 between shoulder 104 on mast 12 and a nut 106 threaded on threads 20.
  • Each of the three arms 32 of the plates 24 and 28 extend radially outward from the driving axis and end with a hole 34.
  • Through bolts 36 connect the two plates 24 28, as best seen in FIGURE 6a.
  • each elastomeric bearing assembly 42 can be seen to comprise a rigid inner cylindrical section 44 rigidly secured between the plates 24 and 28 by through bolt 36.
  • the center elongate axis 46 of the cylindrical section 44 is thus parallel to, but radially spaced from, the driving axis 22.
  • a tapered cylindrical elastomeric bearing 48 is provided and is concentric with the cylindrical section 44.
  • the inner cylindrical surface 50 of the elastomeric bearing 48 is bonded or otherwise secured to the outer cylindrical surface 52 of the cylindrical section 44.
  • surface 50 can simply be secured directly to bolt 36, although use of section 44 is preferred for ease of replacing assemblies 42 when worn or failed.
  • a rigid intermediate section 54 is concentric with section 44 and bearing 48 when the bearing assembly is not subjected to external forces, and the outer cylindrical surface 56 of the elastomeric bearing 48 is bonded or otherwise secured to the inner cylindrical surface 57 of the intermediate section 54.
  • a spherical elastomeric bearing 60 has an inner spherical surface 62 which is bonded or otherwise secured to an outer spherical surface 63 of intermediate section 54.
  • the carrier 40 can be seen to comprise an annular ring having a series of six apertures 66 formed therethrough around its circumference.
  • the apertures 66 are generally centered along axes parallel to the axis of symmetry 67 of the carrier 40 and at a uniform radius from the axis of symmetry.
  • the elastomeric bearing assemblies 42 are received in three of the apertures 66 in a symmetrical pattern on the carrier 40.
  • outer spherical surfaces 70 of spherical elastomeric bearings 60 are bonded or otherwise secured to the walls 72 of the apertures 66 and the walls 72 are preferably also configured as a spherical surface of equal radius to the outer spherical surfaces 70.
  • the three elastomeric bearing assemblies 42 support the carrier 40 between the plates 24 and 28 fixed to the mast 12.
  • the elastomeric bearings 48 and 60 within each elastomeric bearing assembly are capable of deformation to permit the axis of symmetry 67 of the carrier 40 to become misaligned with the driving axis 22.
  • the configuration and design of the elastomeric bearings 48 and 60 provide for three spring rates per elastomeric bearing assembly 42.
  • K1 represents the combined axial spring rates of the cylindrical elastomeric bearings 48 and 60 for deformation along the center axis 46.
  • each elastomeric bearing can be laminated, as shown in FIGURE 6d, with multiple layers of elastomeric material separated by rigid sections 49 in bearing 48' and rigid sections 61 in bearing 60'.
  • the sections 49 and 61 are preferably contoured to the shape of the bearings. The sections 49 are therefore generally cylindrical while the sections 61 are formed with spherical surfaces.
  • three elastomeric bearing assemblies 80 can be seen to secure the yoke 14 to the carrier 40 for joint rotation, yet permit angular misalignment between the driven axis 82 of the yoke 14 (see FIGURE 5) and the axis of symmetry 67 of the carrier 40.
  • the elastomeric bearing assemblies 80 are in all respects identical to the elastomeric bearing assemblies 42 and are interchangeable therewith.
  • Each of the elastomeric bearing assemblies 80 is secured to the hub by a bolt 84 secured to the hub and supported at its upper end by a pillow block 86 having a U-shaped configuration.
  • Each pillow block 86 is rigidly secured to the yoke 14 by bolts 87 as best seen in FIGURE 6b.
  • Torque transmission to the yoke 14 from mast 12 is transmitted through elastomeric bearing assemblies 42, carrier 40 and elastomeric bearing assemblies 80. Thrust (or rotor lift) is transmitted from yoke 14 to mast 12 through elastomeric flapping springs 116 and 118 discussed hereinafter. Therefore, the yoke 14 is supported by the mast 12 through bearing assemblies 42, carrier 40 and bearing assemblies 80 without a nonelastomeric connection. This permits the yoke 14 to flap relative to the mast 12 about a flapping center 88 (see FIGURE 5), so that the joint 10 will permit the driving axis 22 and driven axis 82 to become misaligned by an angle ⁇ , as best seen in FIGURE 5.
  • the configuration of the constant velocity joint 10 is such that the axis of symmetry 67 of the carrier 40 will be misaligned with both the driving axis 22 and drive axis 82 by an angle ⁇ /2.
  • the axis of symmetry 67 will always be positioned to exactly bisect the angular misalignment between the mast and hub and assures that the joint will have constant velocity.
  • the flapping center 88 generally lies along the axis of symmetry of carrier 40 at the midpoint through the thickness of the carrier 40.
  • the center 74 of each of the elastomeric bearing assemblies 42 and 80 are also preferably in the plane that is perpendicular to the axis of symmetry 67 and contains the midpoint through the thickness of carrier 40. This provides a compact arrangement for joint 10.
  • K1 the axial spring rate of one elastomeric bearing assembly kg/m(lb/in).
  • K2 radial spring rate of one elastomeric bearing assembly kg/m(lb/in).
  • K3 the angular spring rate of one elastomeric bearing assembly m-kg/°(in-lb/degree).
  • r coupling radius at bearings cm(in).
  • ⁇ misalignment between yoke 14 and rotor mast 12°(degrees).
  • joint 10 can be used as a hub assembly drive joint as described without use of elastomeric bearings 116 and 118, as long as plates 24 and 28 are confined along axis 22, preferably the constant velocity joint 10 will have structure for limiting the angular misalignment and carrying the rotor thrust between the driving axis 22 and the driven axis 82. Therefore, a flapping and axial load transfer spring is mounted on joint 10.
  • a lower ring 100 can be splined to spline section 16 for rotation with the mast 12 as best seen in FIGURES 4 and 5.
  • An upper ring 102 can also be splined to the spline section 18 for rotation with mast 12.
  • Both rings 100 and 102 and plates 24 and 28 can be secured on the mast 12 between the shoulder 104 and nut 106 threaded on end 20 of the mast 12.
  • Both lower and upper ribs 100 and 102 define spherical surfaces 108 which are centered on the flapping center 88.
  • a lower bowl 110 is secured to the yoke 14 by the bolts 87 that secure the pillow blocks 86 to the yoke 14.
  • An upper bowl 112 is secured to the yoke 14 above the pillow blocks 86 by the bolts 87. Both lower bowl 110 and upper bowl 112 can be seen to have spherical surfaces 114 also centered on flapping center 88.
  • a lower spherical elastomeric bearing 116 is bonded or otherwise secured to the spherical surfaces of lower ring 100 and lower bowl 110.
  • An upper spherical elastomeric bearing 118 is bonded or otherwise secured between the spherical surfaces on upper ring 102 and upper bowl 112. It can thus be seen that the angular misalignment permitted between the axes 22 and 82 is limited by the deformation in compression of the elastomeric bearings 116 and 118 and that the rotor thrust is carried by bearings 116 and 118.
  • the joint 200 connects a first shaft 202 with a second shaft 204 for common rotation even if the rotational axis 206 of the first shaft 202 is misaligned with the rotational axis 208 of the second shaft 204. It will also be understood that either of the shafts can be the driving or driven member, as the constant velocity joint 200 is bidirectional.
  • the first member will be seen to have a triangularly shaped plate 210 secured at the end thereof.
  • Second shaft 204 will be seen to have a similar triangular shaped plate 212 fixed at its end.
  • Each of the arms 214 of plates 210 and 212 extend radially outward from the axis of rotation of the shaft to receive a bolt 222.
  • Elastomeric bearing assemblies 220 are identical in structure and function with the elastomeric bearing assemblies 42 and 80.
  • Alternating bearing assemblies 220 about the circumference of the carrier 218 are secured through their inner cylinderical sections rigidly to an arm 214 of plate 210 or 212 by bolts 222. Torque can thus be transmitted from one shaft to the other through the elastomeric bearing assemblies 220 and carrier 218 in a manner substantially identical to constant velocity joint 10.
  • the configuration of constant velocity joint 200 will always have the axis of symmetry 219 of the carrier 218 at an angle bisecting the angle of misalignment between the axes 206 and 208 as best seen in FIGURE 9.
  • constant velocity joint 200 includes a thrust linkage 224.
  • the thrust linkage 224 includes a cleavis 226 formed on first shaft 202 having two parallel legs 228. A spherical ball 230 is secured between legs 228 by pin 232. An elastomeric bearing 234 having the shape of a spherical segment is bonded or otherwise secured on its inner surface to the ball 230. The outer surface is bonded or otherwise secured to the inner surface of a ring 236 extending from the first shaft.
  • the thrust linkage 224 therefore permits the transfer of thrust forces between shafts 202 and 204 along their rotational axes while permitting some misalignment between the rotational axes.
  • a constant velocity joint has thus been disclosed which has significant advantages over prior art designs.
  • the joint can be used in the environment of a flapping helicopter hub assembly, but can also be used with any power train, even with bidirectional torque transfer.
  • the joint eliminates vibration common with nonconstant velocity joints. Furthermore, it requires no lubrication, is self-centering and accommodates limited axial motion between the rotating members.
  • the joint has a noncatastrophic failure mode should the elastomeric bearings shear or separate, which can be highly advantageous in environments such as a helicopter hub assembly.
  • the placement of the elastomeric bearing assemblies in a carrier in a single plane minimizes the size of the joint and provides for most effective transfer of torque.
  • a high torque transfer capacity is achieved, both by the absence of sliding friction between elements in the joint and the absence of severe shear in the elastomeric bearings.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Support Of The Bearing (AREA)
  • Pivots And Pivotal Connections (AREA)
  • Sliding-Contact Bearings (AREA)
  • Diaphragms For Electromechanical Transducers (AREA)
  • Photoreceptors In Electrophotography (AREA)
  • Control Of Electric Motors In General (AREA)

Claims (6)

  1. joint articulé homocinétique permettant de réunir un arbre menant (12, 202) à une pièce menée (14, 204) en vue d'une rotation conjointe et d'une transmission de poussée, l'arbre menant étant agencé de façon à pouvoir tourner autour d'un premier axe (22, 206) et la pièce menée étant agencée de façon à pouvoir tourner autour d'un second axe (82, 208), ces premier et second axes pouvant ne pas être en ligne, ce joint articulé homocinétique comportant plusieurs paliers élastomères comprenant au moins trois paliers menants (42, 218, 220) et au moins trois paliers menés (80, 220), des moyens de fixation de certains, choisis, de ces paliers élastomères sur l'arbre menant (12, 202) et des moyens de fixation des autres paliers élastomères sur la pièce menée (14, 204), et des moyens de support (40, 218) permettant le montage des paliers élastomères, ces derniers se déformant lorsque l'arbre menant (12, 202) entraîne la pièce menée (14, 204), en rotation, par l'intermédiaire du joint homocinétique, en permettant à l'axe de symétrie de ces moyens de support d'être disposé suivant la bissectrice de l'angle de défaut d'alignement existant entre les premier et second axes en vue d'assurer un mouvement homocinétique, tandis que les paliers élastomères comprennent au moins trois paires de paliers élastomères, chacune de ces paires de paliers élastomères comprenant un palier menant (42, 220), un palier mené (80, 220) et des moyens de support (40, 218) servant à réunir ce palier menant et ce palier mené suivant une disposition relative espacée afin de transmettre des forces de rotation entre l'arbre menant et la pièce menée, le palier mené (80, 220) reliant élastiquement les moyens de support (40, 218) à la pièce menée (14, 204) et le palier menant (42, 218, 220) reliant élastiquement ces moyens de support (40, 218) à l'arbre menant (12, 202), chacun des paliers présentant un coefficient de rappel élastique radial, fixé à l'avance, par rapport aux premier et second axes (22, 82) de façon à transmettre un couple entre l'arbre menant (12, 202) et la pièce menée (14, 204), caractérisé par un coefficient de rappel élastique angulaire, fixé à l'avance, autour d'un centre d'inclinaison (88), où les premier et second axes (22, 82) se coupent, même au cours d'un défaut d'alignement, ce qui permet un défaut d'alignement de ces premier et second axes tout en assurant une rotation homocinétique de la pièce menée (14, 204), et en ce que des moyens élastiques de tête rotor à rappel élastique (116, 118 ; 234) sont reliés directement entre l'arbre menant (12, 202) et la pièce menée (14, 204), tandis que, indépendamment des paliers élastomères et des moyens de support, ces moyens élastiques de tête rotor sont formés de matières élastomères ayant une configuration sphérique centrée sur le centre d'inclinaison (88), la matière élastomère, qui est normalement en compression, assurant un couple de contrôle, permettant de rétablir l'alignement entre les premier et second axes (22, 82) et permettant de transmettre un effort axial, dirigé dans l'un ou l'autre sens, et des forces de cisaillement entre l'arbre menant (12, 202) et la pièce menée (114, 204).
  2. Joint homocinétique suivant la revendication 1, dans lequel la pièce menée (14, 204) est une tête rotor d'un hélicoptère.
  3. Joint homocinétique suivant la revendication 1, dans lequel les moyens de fixation de certains, choisis, des ensembles de palier élastomère sur le mât rotor (12) comprennent deux plaques espacées (24, 28) solidaires du mât rotor en rotation, ces plaques immobilisant entre elles les sections cylindriques intérieures rigides de ces ensembles de palier élastomère choisis, les moyens prévus pour fixer les autres ensembles de palier élastomère sur la tête rotor comprenant un bloc-chaise (86) en forme de U pour chacun de ces autres ensembles de palier élastomère, le bloc-chaise étant fixé rigidement sur la tête rotor, tandis que le bloc-chaise et la tête rotor immobilisent entre eux la section cylindrique intérieure rigide de l'ensemble de palier élastomère associé, le support (40) ayant une forme telle qu'il ne vienne pas au contact des blocs-chaise (86) et des plaques (24, 28) pendant un défaut d'alignement entre les premier et second axes (22, 82).
  4. Joint homocinétique suivant la revendication 1, dans lequel les paliers élastomères cylindriques (42, 80) et les paliers élastomères sphériques (116, 118) sont disposés suivant un agencement en plusieurs couches, ou stratifié, des sections rigides étant reliées mutuellement par des éléments élastomères.
  5. Joint homocinétique suivant la revendication 1, comportant en outre des moyens permettant de limiter l'angle de défaut d'alignement existant entre les premier et second axes (22, 82).
  6. Joint homocinétique suivant la revendication 1, comprenant en outre des moyens permettant de transmettre une poussée axiale de la pièce menante (12, 202) à la pièce menée (14, 204), tout en permettant aux axes (22, 82) des pièces de ne plus être en ligne.
EP86113813A 1985-11-04 1986-10-06 Joint homocinétique Expired - Lifetime EP0221372B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US794800 1985-11-04
US06/794,800 US4729753A (en) 1985-11-04 1985-11-04 Constant velocity elastomeric bearing joint

Publications (3)

Publication Number Publication Date
EP0221372A2 EP0221372A2 (fr) 1987-05-13
EP0221372A3 EP0221372A3 (en) 1987-07-22
EP0221372B1 true EP0221372B1 (fr) 1991-09-18

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP86113813A Expired - Lifetime EP0221372B1 (fr) 1985-11-04 1986-10-06 Joint homocinétique

Country Status (8)

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US (3) US4729753A (fr)
EP (1) EP0221372B1 (fr)
JP (1) JPS62167927A (fr)
AU (1) AU584847B2 (fr)
CA (1) CA1272888A (fr)
DE (1) DE3681554D1 (fr)
ES (1) ES2024405B3 (fr)
IL (1) IL80491A (fr)

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Also Published As

Publication number Publication date
AU6291686A (en) 1987-05-07
US4729753A (en) 1988-03-08
US5215502A (en) 1993-06-01
EP0221372A3 (en) 1987-07-22
CA1272888A (fr) 1990-08-21
JPS62167927A (ja) 1987-07-24
US4734081A (en) 1988-03-29
IL80491A0 (en) 1987-02-27
DE3681554D1 (de) 1991-10-24
IL80491A (en) 1991-06-10
EP0221372A2 (fr) 1987-05-13
ES2024405B3 (es) 1992-03-01
AU584847B2 (en) 1989-06-01

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